REMOTELY ACTUATED ROBOTIC WRIST

摘要

Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element ( 3 ) mounted on a support ( 2 ) capable instantaneously to rotate with respect to a fixed member ( 5 ), for example by a ball joint ( 10 ) that allows three rotational degrees of freedom. In particular, the support ( 2 ) can be oriented with respect to the fixed member ( 5 ) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons ( 8 ), and causing the rotation of the support ( 2 ) about the central post ( 5 ) by the ball joint ( 10 ). Alternatively, the support ( 2 ) can be oriented with respect to the fixed member ( 5 ) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.